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Issue 26 fixed (JETI)
This commit is contained in:
bsongis@gmail.com
2013-05-07 05:42:43 +00:00
parent 37880ee9ec
commit c7c907e7ce
306 changed files with 937 additions and 892 deletions
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src/protocols/pxx_arm.cpp
+233
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/*
* Authors (alphabetical order)
* - Andre Bernet <bernet.andre@gmail.com>
* - Andreas Weitl
* - Bertrand Songis <bsongis@gmail.com>
* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
* - Cameron Weeks <th9xer@gmail.com>
* - Erez Raviv
* - Gabriel Birkus
* - Jean-Pierre Parisy
* - Karl Szmutny
* - Michael Blandford
* - Michal Hlavinka
* - Pat Mackenzie
* - Philip Moss
* - Rob Thomson
* - Romolo Manfredini <romolo.manfredini@gmail.com>
* - Thomas Husterer
*
* opentx is based on code named
* gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
* er9x by Erez Raviv: http://code.google.com/p/er9x/,
* and the original (and ongoing) project by
* Thomas Husterer, th9x: http://code.google.com/p/th9x/
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
*/
#include "opentx.h"
uint8_t pxxFlag[NUM_MODULES] = { MODULES_INIT(0) };
uint16_t pxxStream[NUM_MODULES][400]; // Transitions
uint16_t *pxxStreamPtr[NUM_MODULES];
uint16_t PxxValue[NUM_MODULES];
uint16_t PcmCrc[NUM_MODULES];
uint8_t PcmOnesCount[NUM_MODULES];
const uint16_t CRCTable[]=
{
0x0000,0x1189,0x2312,0x329b,0x4624,0x57ad,0x6536,0x74bf,
0x8c48,0x9dc1,0xaf5a,0xbed3,0xca6c,0xdbe5,0xe97e,0xf8f7,
0x1081,0x0108,0x3393,0x221a,0x56a5,0x472c,0x75b7,0x643e,
0x9cc9,0x8d40,0xbfdb,0xae52,0xdaed,0xcb64,0xf9ff,0xe876,
0x2102,0x308b,0x0210,0x1399,0x6726,0x76af,0x4434,0x55bd,
0xad4a,0xbcc3,0x8e58,0x9fd1,0xeb6e,0xfae7,0xc87c,0xd9f5,
0x3183,0x200a,0x1291,0x0318,0x77a7,0x662e,0x54b5,0x453c,
0xbdcb,0xac42,0x9ed9,0x8f50,0xfbef,0xea66,0xd8fd,0xc974,
0x4204,0x538d,0x6116,0x709f,0x0420,0x15a9,0x2732,0x36bb,
0xce4c,0xdfc5,0xed5e,0xfcd7,0x8868,0x99e1,0xab7a,0xbaf3,
0x5285,0x430c,0x7197,0x601e,0x14a1,0x0528,0x37b3,0x263a,
0xdecd,0xcf44,0xfddf,0xec56,0x98e9,0x8960,0xbbfb,0xaa72,
0x6306,0x728f,0x4014,0x519d,0x2522,0x34ab,0x0630,0x17b9,
0xef4e,0xfec7,0xcc5c,0xddd5,0xa96a,0xb8e3,0x8a78,0x9bf1,
0x7387,0x620e,0x5095,0x411c,0x35a3,0x242a,0x16b1,0x0738,
0xffcf,0xee46,0xdcdd,0xcd54,0xb9eb,0xa862,0x9af9,0x8b70,
0x8408,0x9581,0xa71a,0xb693,0xc22c,0xd3a5,0xe13e,0xf0b7,
0x0840,0x19c9,0x2b52,0x3adb,0x4e64,0x5fed,0x6d76,0x7cff,
0x9489,0x8500,0xb79b,0xa612,0xd2ad,0xc324,0xf1bf,0xe036,
0x18c1,0x0948,0x3bd3,0x2a5a,0x5ee5,0x4f6c,0x7df7,0x6c7e,
0xa50a,0xb483,0x8618,0x9791,0xe32e,0xf2a7,0xc03c,0xd1b5,
0x2942,0x38cb,0x0a50,0x1bd9,0x6f66,0x7eef,0x4c74,0x5dfd,
0xb58b,0xa402,0x9699,0x8710,0xf3af,0xe226,0xd0bd,0xc134,
0x39c3,0x284a,0x1ad1,0x0b58,0x7fe7,0x6e6e,0x5cf5,0x4d7c,
0xc60c,0xd785,0xe51e,0xf497,0x8028,0x91a1,0xa33a,0xb2b3,
0x4a44,0x5bcd,0x6956,0x78df,0x0c60,0x1de9,0x2f72,0x3efb,
0xd68d,0xc704,0xf59f,0xe416,0x90a9,0x8120,0xb3bb,0xa232,
0x5ac5,0x4b4c,0x79d7,0x685e,0x1ce1,0x0d68,0x3ff3,0x2e7a,
0xe70e,0xf687,0xc41c,0xd595,0xa12a,0xb0a3,0x8238,0x93b1,
0x6b46,0x7acf,0x4854,0x59dd,0x2d62,0x3ceb,0x0e70,0x1ff9,
0xf78f,0xe606,0xd49d,0xc514,0xb1ab,0xa022,0x92b9,0x8330,
0x7bc7,0x6a4e,0x58d5,0x495c,0x3de3,0x2c6a,0x1ef1,0x0f78
};
void crc(uint8_t data, unsigned int port)
{
PcmCrc[port]=(PcmCrc[port]<<8)^(CRCTable[((PcmCrc[port]>>8)^data) & 0xFF]);
}
void putPcmPart(uint8_t value, unsigned int port)
{
PxxValue[port] += 18 ; // Output 1 for this time
*pxxStreamPtr[port]++ = PxxValue[port] ;
PxxValue[port] += 14 ;
if (value) {
PxxValue[port] += 16 ;
}
*pxxStreamPtr[port]++ = PxxValue[port] ; // Output 0 for this time
}
void putPcmFlush(unsigned int port)
{
*pxxStreamPtr[port]++ = 18010 ; // Past the 18000 of the ARR
}
void putPcmBit(uint8_t bit, unsigned int port)
{
if (bit) {
PcmOnesCount[port] += 1;
putPcmPart(1, port);
}
else {
PcmOnesCount[port] = 0;
putPcmPart(0, port);
}
if (PcmOnesCount[port] >= 5) {
putPcmBit(0, port); // Stuff a 0 bit in
}
}
void putPcmByte(uint8_t byte, unsigned int port)
{
crc(byte, port);
for (uint8_t i=0; i<8; i++) {
putPcmBit(byte & 0x80, port);
byte <<= 1;
}
}
void putPcmHead(unsigned int port)
{
// send 7E, do not CRC
// 01111110
putPcmPart(0, port);
putPcmPart(1, port);
putPcmPart(1, port);
putPcmPart(1, port);
putPcmPart(1, port);
putPcmPart(1, port);
putPcmPart(1, port);
putPcmPart(0, port);
}
void setupPulsesPXX(unsigned int port)
{
uint16_t chan=0, chan_low=0;
pxxStreamPtr[port] = pxxStream[port];
PxxValue[port] = 0 ;
PcmCrc[port] = 0;
PcmOnesCount[port] = 0;
/* Sync */
putPcmHead(port);
/* Rx Number */
putPcmByte(g_model.header.modelId, port);
/* FLAG1 */
uint8_t flag1;
if (pxxFlag[port] & PXX_SEND_RXNUM) {
flag1 = (g_model.moduleData[port].rfProtocol << 6) | (g_eeGeneral.countryCode << 1) | pxxFlag[port];
}
else {
flag1 = (g_model.moduleData[port].rfProtocol << 6) | pxxFlag[port];
if (g_model.moduleData[port].failsafeMode != FAILSAFE_HOLD) {
if (failsafeCounter[port]-- == 0) {
failsafeCounter[port] = 1000;
flag1 |= PXX_SEND_FAILSAFE;
}
if (failsafeCounter[port] == 0 && g_model.moduleData[port].channelsCount > 0) {
flag1 |= PXX_SEND_FAILSAFE;
}
}
}
putPcmByte(flag1, port);
/* FLAG2 */
putPcmByte(0, port);
/* PPM */
static uint32_t pass[NUM_MODULES] = { MODULES_INIT(0) };
uint32_t sendUpperChannels = 0;
if (pass[port]++ & 0x01) {
sendUpperChannels = g_model.moduleData[port].channelsCount;
}
for (uint32_t i=0; i<8; i++) {
if (flag1 & PXX_SEND_FAILSAFE) {
if (g_model.moduleData[port].failsafeMode == FAILSAFE_NOPULSES) {
if (i < sendUpperChannels)
chan = 3072;
else
chan = 1024;
}
else {
if (i < sendUpperChannels) {
chan = limit(2048, PPM_CH_CENTER(8+g_model.moduleData[port].channelsStart+i) - PPM_CENTER + (g_model.moduleData[port].failsafeChannels[8+g_model.moduleData[port].channelsStart+i] * 512 / 682) + 3072, 4095);
if (chan == 3072) chan = 3073;
}
else {
chan = limit(0, PPM_CH_CENTER(g_model.moduleData[port].channelsStart+i) - PPM_CENTER + (g_model.moduleData[port].failsafeChannels[g_model.moduleData[port].channelsStart+i] * 512 / 682) + 1024, 2047);
if (chan == 1024) chan = 1025;
}
}
}
else {
if (i < sendUpperChannels)
chan = limit(2048, PPM_CH_CENTER(8+g_model.moduleData[port].channelsStart+i) - PPM_CENTER + (channelOutputs[8+g_model.moduleData[port].channelsStart+i] * 512 / 682) + 3072, 4095);
else
chan = limit(0, PPM_CH_CENTER(g_model.moduleData[port].channelsStart+i) - PPM_CENTER + (channelOutputs[g_model.moduleData[port].channelsStart+i] * 512 / 682) + 1024, 2047);
}
if (i & 1) {
putPcmByte(chan_low, port); // Low byte of channel
putPcmByte(((chan_low >> 8) & 0x0F) | (chan << 4), port); // 4 bits each from 2 channels
putPcmByte(chan >> 4, port); // High byte of channel
}
else {
chan_low = chan;
}
}
/* CRC16 */
putPcmByte(0, port);
chan = PcmCrc[port];
putPcmByte(chan>>8, port);
putPcmByte(chan, port);
/* Sync */
putPcmHead(port);
putPcmFlush(port);
}